fp@0: /******************************************************************************
fp@0:  *
fp@0:  * msr_io.c
fp@0:  *
fp@0:  * Sample Modul für EtherCAT
fp@0:  *           
fp@0:  * Autoren: Wilhelm Hagemeister, Florian Pose
fp@0:  *
fp@0:  * $Date$
fp@0:  * $Author$
fp@0:  *
fp@0:  * (C) Copyright IgH 2005
fp@0:  * Ingenieurgemeinschaft IgH
fp@0:  * Heinz-Bäcker Str. 34
fp@0:  * D-45356 Essen
fp@0:  * Tel.: +49 201/61 99 31
fp@0:  * Fax.: +49 201/61 98 36
fp@0:  * E-mail: hm@igh-essen.com
fp@0:  *
fp@0:  * /bin/setserial /dev/ttyS0 uart none
fp@0:  * /bin/setserial /dev/ttyS1 uart none
fp@0:  *
fp@0:  ******************************************************************************/
fp@0: 
fp@0: /*--Includes-----------------------------------------------------------------*/
fp@0: 
fp@0: #include <linux/module.h>
fp@0: #include <linux/tqueue.h>
fp@0: #include <linux/slab.h>
fp@0: #include <linux/delay.h>
fp@0: 
fp@0: #include <msr_reg.h>
fp@0: #include <msr_messages.h>
fp@0: #include <msr_main.h>
fp@0: 
fp@0: #include <rtai.h>
fp@0: #include <rtai_sched.h>
fp@0: 
fp@0: #include "msr_io.h"
fp@0: 
fp@0: //#include <msr_float.h>
fp@0: 
fp@0: #include "../drivers/ec_master.h"
fp@0: #include "../drivers/ec_device.h"
fp@0: #include "../drivers/ec_types.h"
fp@0: #include "../rs232dbg/rs232dbg.h"
fp@0: 
fp@0: /*--Defines------------------------------------------------------------------*/
fp@0: 
fp@0: #define TIMERTICS 1e6	// in ns; Thus have a task time of 1ms
fp@0: #define MSR_ABTASTFREQUENZ (1e9/TIMERTICS)
fp@0: 
fp@0: //#define MSR_ABTASTFREQUENZ (1000) //1e9/TIMERTICS)
fp@0: #define TICK ((1000000 / MSR_ABTASTFREQUENZ) * 1000)
fp@0: #define TIMER_FREQ (APIC_TIMER ? FREQ_APIC : FREQ_8254)
fp@0: #define APIC_TIMER 0
fp@0: 
fp@0: //#define MSR_SLOW_DEBUG
fp@0: 
fp@0: /*--Globale Variablen--------------------------------------------------------*/
fp@0: 
fp@0: RT_TASK process_image;
fp@0: 
fp@0: const int Tick = TICK;
fp@0: 
fp@0: unsigned int ecat_tx_delay = 0; //Zeit vom Ende der TimerInterruptRoutine bis
fp@0:                                 //TX-Interrupt der Netzwerkkarte 
fp@0: unsigned int ecat_rx_delay = 0; //RX-Interrupt der Netzwerkkarte
fp@0: 
fp@0: unsigned int tx_intr = 0;
fp@0: unsigned int rx_intr = 0;
fp@0: unsigned int total_intr = 0;
fp@0: 
fp@0: unsigned int thread_end = 0;
fp@0: 
fp@0: #define USE_ETHERCAT
fp@0: 
fp@0: #ifdef USE_ETHERCAT
fp@0: 
fp@0: static EtherCAT_master_t *ecat_master = NULL;
fp@0: 
fp@0: extern EtherCAT_device_t rtl_ecat_dev;
fp@0: 
fp@0: //#define ECAT_SLAVES_COUNT 16
fp@0: 
fp@0: static EtherCAT_slave_t ecat_slaves[] =
fp@0: {
fp@0:     //Block 1
hm@6: /*  ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
hm@6:   ECAT_INIT_SLAVE(Beckhoff_EL2004), */
fp@0:   //Block 2
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL4102),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3162),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL3102),
fp@0:   //Block 3
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EK1100),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL2004),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014),
fp@0:   ECAT_INIT_SLAVE(Beckhoff_EL1014)
fp@0: 
fp@0: 
fp@0: };
fp@0: 
fp@0: #define ECAT_SLAVES_COUNT (sizeof(ecat_slaves)/sizeof(EtherCAT_slave_t))
fp@0: 
fp@0: #endif
fp@0: 
fp@0: double value;
fp@0: int dig1;
fp@0: 
fp@0: 
fp@0: static int next2004(int *wrap)
fp@0: {
fp@0:     static int i=0;
fp@0: 
fp@0:     int j=0;
fp@0: 
fp@0:     *wrap = 0;
fp@0:     for(j=0;j<ECAT_SLAVES_COUNT;j++) {
fp@0: 	i++;
fp@0: 	i %= ECAT_SLAVES_COUNT;
fp@0: 	if(i == 0) *wrap = 1;
fp@0: 	if(ecat_slaves[i].desc == Beckhoff_EL2004) {
fp@0: 	    return i;
fp@0: 	}
fp@0:     }
fp@0:     return -1;
fp@0: }
fp@0: 
fp@0: /*
fp@0: *******************************************************************************
fp@0: *
fp@0: * Function: msr_controller
fp@0: *
fp@0: * Beschreibung: Zyklischer Prozess
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: *******************************************************************************
fp@0: */
fp@0: 
fp@0: void msr_controller(void)
fp@0: {
fp@0:   static int ms = 0;
fp@0:   static int cnt = 0;
fp@0:   static unsigned long int k = 0;
fp@0:   static int firstrun = 1;
fp@0: 
fp@0:   static int klemme = 12;
fp@0:   static int kanal = 0;
fp@0:   static int up_down = 0;
fp@0:   int wrap = 0;
fp@0: 
fp@0:   ms++;
fp@0:   ms %= 1000;
fp@0: 
fp@0: #ifdef USE_ETHERCAT
fp@0:   ecat_tx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->tx_time-k))
fp@0:     / (current_cpu_data.loops_per_jiffy / 10);  
fp@0:   ecat_rx_delay = ((unsigned int) (100000 / HZ) * (ecat_master->dev->rx_time-k))
fp@0:     / (current_cpu_data.loops_per_jiffy / 10);  
fp@0: 
fp@0:   rx_intr = ecat_master->dev->rx_intr_cnt;
fp@0:   tx_intr = ecat_master->dev->tx_intr_cnt;
fp@0:   total_intr = ecat_master->dev->intr_cnt;
fp@0:   // Prozessdaten lesen
fp@0:   if(!firstrun) {
fp@0:       EtherCAT_read_process_data(ecat_master);
fp@0: 
fp@0:       // Daten lesen und skalieren
fp@0:       value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.7;
fp@0:       dig1 = EtherCAT_read_value(&ecat_master->slaves[3], 0);
fp@0:   }
fp@0:   // Daten schreiben
fp@0: 
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 0, ms > 500 ? 1 : 0);
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 1, ms > 500 ? 0 : 1);
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 2, ms > 500 ? 0 : 1);
fp@0:   EtherCAT_write_value(&ecat_master->slaves[4], 3, ms > 500 ? 1 : 0);
fp@0: 
fp@0: 
fp@0:    if(cnt++ > 20) {
fp@0:       cnt = 0;
fp@0:       if(++kanal > 3) {
fp@0: 	  kanal = 0;
fp@0: 	  klemme = next2004(&wrap);
fp@0: 	  if (wrap == 1) { 
fp@0: 	      if(up_down == 1) 
fp@0: 		  up_down = 0;
fp@0: 	      else up_down = 1;
fp@0: 	      }
fp@0: 	  }
fp@0:       }
fp@0:    if (klemme >=0)
fp@0:     EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
fp@0:   
fp@0: //  EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
fp@0: //  EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
fp@0: //  EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
fp@0: 
fp@0:   // Prozessdaten schreiben
fp@0:   rdtscl(k);
fp@0:   EtherCAT_write_process_data(ecat_master);
fp@0:   firstrun = 0;
fp@0: #endif
fp@0: }
fp@0: 
fp@0: /*
fp@0: *******************************************************************************
fp@0: *
fp@0: * Function: msr_run_interrupt
fp@0: *
fp@0: * Beschreibung: Interrupt abarbeiten
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: *******************************************************************************
fp@0: */
fp@0: 
fp@0: void process_thread(int priv_data)
fp@0: {
fp@0:   while (1)
fp@0:   {
fp@0: 
fp@0: #ifdef USE_ETHERCAT
fp@0:     MSR_RTAITHREAD_CODE(msr_controller(); msr_write_kanal_list(); );  
fp@0: #else
fp@0:     MSR_RTAITHREAD_CODE( msr_write_kanal_list(); );  
fp@0: #endif
fp@0: 
fp@0: 
fp@0: 
fp@0:     /*   if(counter++ >=MSR_ABTASTFREQUENZ) {
fp@0: 	counter = 0;
fp@0: 	sprintf(buf,"rt:life");
fp@0: 	msr_print_info(buf);
fp@0:     }
fp@0:     */
fp@0:     rt_task_wait_period();
fp@0:   }
fp@0:   thread_end = 1;
fp@0: }
fp@0: 
fp@0: /*
fp@0: *******************************************************************************
fp@0: *
fp@0: * Function: msr_register_channels
fp@0: *
fp@0: * Beschreibung: Kanäle registrieren
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: *******************************************************************************
fp@0: */
fp@0: 
fp@0: int msr_globals_register(void)
fp@0: {
fp@0:   msr_reg_kanal("/value", "V", &value, TDBL);
fp@0:   msr_reg_kanal("/dig1", "", &dig1, TINT);
fp@0:   msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);
fp@0:   msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);
fp@0:   msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);
fp@0:   msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);
fp@0:   msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
fp@0: 
fp@0:   return 0;
fp@0: }
fp@0: 
fp@0: /*
fp@0: *******************************************************************************
fp@0: *
fp@0: * Function: msr_init
fp@0: *
fp@0: * Beschreibung: MSR initialisieren
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: *******************************************************************************
fp@0: */
fp@0: 
fp@0: int msr_init(void)
fp@0: {   
fp@0:   int rv = -1;
fp@0:   RTIME tick_period, now;
fp@0: 
fp@0: //  rt_mount_rtai();
fp@0: 
fp@0:   msr_print_info("Initialising rtlib.");
fp@0: 
fp@0:   // RT-lib initialisieren    
fp@0:   if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, msr_globals_register) < 0)
fp@0:   {
fp@0:     msr_print_warn("msr_modul: can't initialize rtlib!");
fp@0:     goto out_umount;
fp@0:   }
fp@0: 
fp@0: #ifdef USE_ETHERCAT
fp@0:   msr_print_info("Opening EtherCAT device.");
fp@0: 
fp@0:   mdelay(100);
fp@0: 
fp@0:   if (EtherCAT_device_open(&rtl_ecat_dev) < 0)
fp@0:   {
fp@0:     msr_print_warn("msr_modul: Could not initialize EtherCAT NIC.");
fp@0:     goto out_rtlib;
fp@0:   }
fp@0: 
fp@0:   if (!rtl_ecat_dev.dev) // Es gibt kein EtherCAT-Device
fp@0:   {  
fp@0:     msr_print_warn("msr_modul: No EtherCAT device!");
fp@0:     goto out_close;
fp@0:   }
fp@0: //    goto out_close;
fp@0: 
fp@0:   // EtherCAT-Master und Slaves initialisieren
fp@0: 
fp@0:   msr_print_info("Initialising EtherCAT master");
fp@0: 
fp@0:   if ((ecat_master = (EtherCAT_master_t *) kmalloc(sizeof(EtherCAT_master_t), GFP_KERNEL)) == 0)
fp@0:   {
fp@0:     msr_print_warn(KERN_ERR "msr_modul: Could not alloc memory for EtherCAT master!\n");
fp@0:     goto out_close;
fp@0:   }
fp@0: 
fp@0:   if (EtherCAT_master_init(ecat_master, &rtl_ecat_dev) < 0)
fp@0:   {
fp@0:     msr_print_warn(KERN_ERR "EtherCAT could not init master!\n");
fp@0:     goto out_master;
fp@0:   }
fp@0: 
fp@0:   msr_print_info("Checking EtherCAT slaves.");
fp@0:   mdelay(10); //Nachricht abwarten
fp@0: 
fp@0:   if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0)
fp@0:   {
fp@0:     msr_print_warn(KERN_ERR "EtherCAT: Could not init slaves!\n");
fp@0:     goto out_masterclear;
fp@0:   }
fp@0: 
fp@0:   msr_print_info("Activating all EtherCAT slaves.");
fp@0:   mdelay(10); //Nachricht abwarten
fp@0: 
fp@0:   if (EtherCAT_activate_all_slaves(ecat_master) != 0)
fp@0:   {
fp@0:     printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
fp@0:     goto out_masterclear;
fp@0:   }
fp@0: 
fp@0:   // Zyklischen Aufruf starten
fp@0: 
fp@0: #endif
fp@0:   msr_print_info("Starting cyclic sample thread.");
fp@0:   mdelay(10); //Nachricht abwarten
fp@0: 
fp@0:   EtherCAT_write_process_data(ecat_master);
fp@0: 
fp@0:   //mdelay(100);
fp@0:   tick_period = start_rt_timer(nano2count(TIMERTICS));
fp@0:   now = rt_get_time();
fp@0: 
fp@0:   if ((rv = rt_task_init(&process_image, process_thread, 0/*data*/, 64000/*stacksize*/, 0/*prio*/, 1/*use fpu*/, 0/*signal*/)))
fp@0:   {
fp@0:       msr_print_error("Could not initialise process_thread\n");
fp@0:       goto out_stoptimer;
fp@0:   }
fp@0: 
fp@0:   msr_print_info("Initialised sample thread\n");
fp@0: 
fp@0:   if ((rv = rt_task_make_periodic(&process_image, 
fp@0: 				  now + tick_period, 
fp@0: 				  tick_period)))
fp@0:   {
fp@0:       msr_print_error("Could not start process_thread\n");
fp@0:       goto out_stoptask;
fp@0:   }
fp@0: 
fp@0:   msr_print_info("Started sample thread.");
fp@0: 
fp@0:   return 0;
fp@0: 
fp@0:  out_stoptask:
fp@0:   msr_print_info("Deleting task....");
fp@0:   rt_task_delete(&process_image);
fp@0: 
fp@0:  out_stoptimer:
fp@0:   msr_print_info("Stopping timer.");
fp@0:   stop_rt_timer();
fp@0: 
fp@0: #ifdef USE_ETHERCAT
fp@0:  out_masterclear:
fp@0:   msr_print_info("Clearing EtherCAT master.");
fp@0:   EtherCAT_master_clear(ecat_master);
fp@0: 
fp@0:  out_master:
fp@0:     msr_print_info("Freeing EtherCAT master.");
fp@0:   kfree(ecat_master);
fp@0: 
fp@0:  out_close:
fp@0:   msr_print_info("Closing device.");
fp@0: 
fp@0:   EtherCAT_device_close(&rtl_ecat_dev);
fp@0: #endif
fp@0: 
fp@0:  out_rtlib:
fp@0:   msr_print_info("msr_rtlib_cleanup()");
fp@0:   mdelay(10);
fp@0:   msr_rtlib_cleanup();
fp@0: 
fp@0:  out_umount:
fp@0: //  rt_umount_rtai();
fp@0: 
fp@0:   return rv;
fp@0: }
fp@0: 
fp@0: /*
fp@0: *******************************************************************************
fp@0: *
fp@0: * Function: msr_io_cleanup
fp@0: *
fp@0: * Beschreibung: Aufräumen
fp@0: *
fp@0: * Parameter:
fp@0: *
fp@0: * Rückgabe: 
fp@0: *               
fp@0: * Status: exp
fp@0: *
fp@0: *******************************************************************************
fp@0: */
fp@0: 
fp@0: void msr_io_cleanup(void)
fp@0: {
fp@0: 
fp@0:   msr_print_info("Stopping timer.");
fp@0: 
fp@0:   stop_rt_timer();
fp@0: 
fp@0:   msr_print_info("Deleting task....");
fp@0: 
fp@0:   rt_task_delete(&process_image);
fp@0: /*
fp@0:   for(i=0;i<1000;i++) {
fp@0:       udelay(100);
fp@0:       if(thread_end == 1) {
fp@0: 	  msr_print_info("Task ended at count %d",i);
fp@0: 	  break;
fp@0:       }
fp@0:   }
fp@0: */
fp@0:   //noch einmal lesen
fp@0: 
fp@0:   msr_print_info("Read Processdata");
fp@0:   EtherCAT_read_process_data(ecat_master);
fp@0: 
fp@0:   //EtherCAT_read_process_data(ecat_master);
fp@0: #ifdef USE_ETHERCAT
fp@0:   if (ecat_master)
fp@0:   {
fp@0: 
fp@0:     msr_print_info("Deactivating slaves.");
fp@0: 
fp@0: 
fp@0:     EtherCAT_deactivate_all_slaves(ecat_master);    
fp@0: 
fp@0: 
fp@0:     msr_print_info("Clearing EtherCAT master.");
fp@0: 
fp@0:     EtherCAT_master_clear(ecat_master);
fp@0: 
fp@0:     msr_print_info("Freeing EtherCAT master.");
fp@0: 
fp@0: 
fp@0:     kfree(ecat_master);
fp@0:     ecat_master = NULL;
fp@0:   }
fp@0: 
fp@0:   msr_print_info("Closing device.");
fp@0: 
fp@0:   EtherCAT_device_close(&rtl_ecat_dev);
fp@0: 
fp@0: #endif
fp@0:   msr_print_info("msr_rtlib_cleanup()");
fp@0: 
fp@0:   msr_rtlib_cleanup();
fp@0:   //rt_umount_rtai();
fp@0: }
fp@0: 
fp@0: /*---Treiber-Einsprungspunkte etc.-------------------------------------------*/
fp@0: 
fp@0: MODULE_LICENSE("GPL");
fp@0: 
fp@0: module_init(msr_init);
fp@0: module_exit(msr_io_cleanup);
fp@0: 
fp@0: /*---Ende--------------------------------------------------------------------*/